add missing tf timeout at differential mode of IMU, odometry, and pos…

…e sensor model (#322)
locusrobotics · Jul 10, 2023 · ed21f99 · ed21f99
1 parent bb25c35
commit ed21f99
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/fuse_models/src/imu_2d.cpp b/fuse_models/src/imu_2d.cpp
@@ -222,7 +222,7 @@ void Imu2D::processDifferential(const geometry_msgs::PoseWithCovarianceStamped&
   transformed_pose->header.frame_id =
       params_.orientation_target_frame.empty() ? pose.header.frame_id : params_.orientation_target_frame;
 
-  if (!common::transformMessage(tf_buffer_, pose, *transformed_pose))
+  if (!common::transformMessage(tf_buffer_, pose, *transformed_pose, params_.tf_timeout))
   {
     ROS_WARN_STREAM_THROTTLE(5.0, "Cannot transform pose message with stamp " << pose.header.stamp
                                                                               << " to orientation target frame "
@@ -242,7 +242,7 @@ void Imu2D::processDifferential(const geometry_msgs::PoseWithCovarianceStamped&
     transformed_twist.header.frame_id =
         params_.twist_target_frame.empty() ? twist.header.frame_id : params_.twist_target_frame;
 
-    if (!common::transformMessage(tf_buffer_, twist, transformed_twist))
+    if (!common::transformMessage(tf_buffer_, twist, transformed_twist, params_.tf_timeout))
     {
       ROS_WARN_STREAM_THROTTLE(5.0, "Cannot transform twist message with stamp " << twist.header.stamp
                                                                                  << " to twist target frame "

diff --git a/fuse_models/src/odometry_2d.cpp b/fuse_models/src/odometry_2d.cpp
@@ -165,7 +165,7 @@ void Odometry2D::processDifferential(const geometry_msgs::PoseWithCovarianceStam
   transformed_pose->header.frame_id =
       params_.pose_target_frame.empty() ? pose.header.frame_id : params_.pose_target_frame;
 
-  if (!common::transformMessage(tf_buffer_, pose, *transformed_pose))
+  if (!common::transformMessage(tf_buffer_, pose, *transformed_pose, params_.tf_timeout))
   {
     ROS_WARN_STREAM_THROTTLE(5.0, "Cannot transform pose message with stamp "
                                       << pose.header.stamp << " to pose target frame " << params_.pose_target_frame);
@@ -184,7 +184,7 @@ void Odometry2D::processDifferential(const geometry_msgs::PoseWithCovarianceStam
     transformed_twist.header.frame_id =
         params_.twist_target_frame.empty() ? twist.header.frame_id : params_.twist_target_frame;
 
-    if (!common::transformMessage(tf_buffer_, twist, transformed_twist))
+    if (!common::transformMessage(tf_buffer_, twist, transformed_twist, params_.tf_timeout))
     {
       ROS_WARN_STREAM_THROTTLE(5.0, "Cannot transform twist message with stamp " << twist.header.stamp
                                                                                  << " to twist target frame "

diff --git a/fuse_models/src/pose_2d.cpp b/fuse_models/src/pose_2d.cpp
@@ -131,7 +131,7 @@ void Pose2D::processDifferential(const geometry_msgs::PoseWithCovarianceStamped&
   auto transformed_pose = std::make_unique<geometry_msgs::PoseWithCovarianceStamped>();
   transformed_pose->header.frame_id = params_.target_frame.empty() ? pose.header.frame_id : params_.target_frame;
 
-  if (!common::transformMessage(tf_buffer_, pose, *transformed_pose))
+  if (!common::transformMessage(tf_buffer_, pose, *transformed_pose, params_.tf_timeout))
   {
     ROS_WARN_STREAM_THROTTLE(5.0, "Cannot transform pose message with stamp "
                                       << pose.header.stamp << " to target frame " << params_.target_frame);